A design method is presented for Takagi-Sugeno (T-S) fuzzy model based nonlinear sliding model controller. First, the closed-loop fuzzy system is divided into a set of dominant local linear systems according to operating sub-regions. In each sub-region the fuzzy system consists of nominal linear system and a group of interacting systems. Then the controller composed two parts is designed. One part is designed to control the nominal system, the other is designed to control the interacting systems with sliding mode theory. The proposed controller can improve the robustness and guarantee tracking performance of the fuzzy system. Stability is guaranteed without finding a common positive definite matrix.